【作者】 王健；

【导师】 李静；

【作者基本信息】 西安工业大学 ， 通信与信息系统， 2015， 硕士

【摘要】 汽车厂商为了提高汽车的安全性、可靠性和舒适性,越来越多的电子产品被引用到汽车中来。系统在没有任何机械传动装置的条件下实现车辆的转向、制动。因此通信总线需提供实时、可靠的通信服务。本文根据驾驶员的具体需求设定了系统的性能指标,提出了基于FlexRay总线的自动泊车设计方案。本文详细阐述了自动泊车系统所需FlexRay总线的硬件及软件设计。分析研究了FlexRay2.1协议规范,完成了FlexRay总线通信单元的设计。硬件部分主要阐述了以飞思卡尔单片机MC9S12XF512作为控制器、TJA1080作为总线收发器的FlexRay总线系统以及MCU外围接口电路的设计,并用Altium Designer软件设计了原理图及PCB电路板。软件部分采用模块化的设计思想,将程序软件设计分为总线通信模块、中断模块、任务调度模块、超声波测距模块等功能模块的设计,便于调试、管理。本文借鉴了目前泊车辅助系统研究领域的技术,结合汽车工程的实际应用,从汽车运动学的角度出发,使用Simulink平台,搭建了汽车运动学模型并模拟了平行泊车的倒车环境模型。通过超声传感器感知汽车的姿态以及泊车位的大小,研究了平行泊车的最小半径法和模糊控制两种路径规划方法。从总结专业驾驶员的泊车经验出发,结合模糊控制器的理论设计出平行泊车的转向控制,计算出一条有效的泊车路径,并结合对方向盘的控制,完成了自动泊车算法的实现。通过仿真及实验结果分析,可以得出基于FlexRav总线的自动泊车系统是可行、可靠的。通过合理的安装超声波传感器组,可以实现对车身周边的环境感知,计算出自动泊车的路径。通过测试表明系统的性能可靠,测试结果比较准确,为自动泊车后续工作的关键部分奠定了基础。更多还原

【Abstract】 Car companies need to make cars safer, more reliable and more comfortable. More and More electric equipments were introduced into the car. For example, as to drive-by-wire system, system should be in the absence of any mechanical transmission device as a backup realization of vehicle steering, brake, whether communication bus can provide real-time and reliable communication services for components (node) will become the primary factors that affect the automobile security.The FlexRay hardware and software design was detailed introduced, and analysis the FlexRay2.1 protocol speciation and design the FlexRay bus ECU node. This article selects the Freescale MC9S12XF512 chip as the main control chip for FlexRay system and uses TJA1080 as the bus transceiver, and the design of the peripheral interface circuit. With Altium Designer software design schematic and PCB circuit boards. Software part adopts modular thought make task scheduling module, FlexRay communication processing module, interrupt module into block, in order to facilitate debugging, successfully set up the communication system.This paper draws on existing range finders for parking in the field of Automatic Parking Technology, combined with the practical application of automotive engineering, from the perspective of automobile kinematics, using Simulink platform, Set up the kinematics model the car and reverse environment model to simulate the parallel parking. Locate the position of the car and the size of the parking place by ultrasonic sensor. Give a research of minimum radius method and fuzzy control method, to form two methods of path planning. Starting from the summary of professional experience in the driver’s car parking, combining the theory of fuzzy controller designed parallel parking steering control, calculate a valid parking path, combined with the control of the steering wheel, and completed the automatic parking algorithm implementation.Through the simulation and analysis of experimental results, can be obtained based on FlexRay bus automatic parking system is feasible and reliable. By reasonable installation of ultrasonic sensor, locate the position of the car, calculate a valid parking path. Through test show that the performance of the system is reliable, the test result relatively accurate, laid the foundation of the key part of the follow-up work for automatic parking.更多还原